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    ROBOT CONTROL DEVICE, ABNORMALITY DIAGNOSING METHOD, AND ABNORMALITY DIAGNOSING PROGRAM
    1.
    发明公开
    ROBOT CONTROL DEVICE, ABNORMALITY DIAGNOSING METHOD, AND ABNORMALITY DIAGNOSING PROGRAM 审中-公开

    公开(公告)号：EP3763493A1

    公开(公告)日：2021-01-13

    申请号：EP19764394.3

    申请日：2019-02-19

    申请人： Omron Corporation

    发明人： MORI, Yasumoto ,  ENDO, Maki ,  SHIRAKI, Teruyuki

    IPC分类号： B25J19/06

    摘要： A technology to improve precision in abnormality diagnosis of a robot body is provided. A robot control device (300) performs abnormality diagnosis of a robot body (200) including a motor (201) that rotates, from a starting angle position to a target angle position, a rotational shaft (204) for transmitting power to an arm (203) so that the arm (203) performs a predetermined operation. The robot control device (300) includes: a drive control unit (304) that drives the motor (201) so that the rotational shaft (204) rotates from the starting angle position to the target angle position within a rotational speed range of the rotational shaft (204) in which it is possible to detect a vibration component caused by an abnormality from among the vibration components generated along with the rotation of the rotational shaft (204); a vibration detection unit (305) that detects the vibration component; and a diagnosis unit (303) that performs abnormality diagnosis based on the detected vibration component.

    MOTOR CONTROL APPARATUS, MOTOR CONTROL METHOD, PROGRAM, AND RECORDING MEDIUM
    2.
    发明公开
    MOTOR CONTROL APPARATUS, MOTOR CONTROL METHOD, PROGRAM, AND RECORDING MEDIUM 审中-公开
    电机控制装置，电机控制方法，程序和记录介质

    公开(公告)号：EP3217235A1

    公开(公告)日：2017-09-13

    申请号：EP16204031.5

    申请日：2016-12-14

    申请人： OMRON CORPORATION

    发明人： ONO, Yasushi ,  EGI, Mamoru ,  KAWANISHI, Yasutomo ,  MORI, Yasumoto

    IPC分类号： G05B13/04 ,  G05D17/02

    CPC分类号： G05B13/041 ,  G05B13/04 ,  G05B2219/41112 ,  G05B2219/41426 ,  G05D17/02 ,  H02P7/00 ,  H02P29/032

    摘要： The present invention implements a model-tracking motor control apparatus for stabilizing behavior of a controlled object. The control apparatus (1) includes: a feedback control part (20), generating a driving torque instruction value used to enable the servo motor (2) to perform driving based on a detection value of an encoder (4) that performs detection on a rotational state of a servo motor (2); and a feedforward control part (10), generating a model torque instruction value, and outputting the model torque instruction value to the feedback control part (20), where the feedforward control part (10) has a model torque limiter (104) that limits the model torque instruction value within a first limit range.

    摘要翻译： 本发明实现了用于稳定受控对象的行为的模型跟踪电动机控制装置。 控制装置（1）包括：反馈控制部（20），其基于编码器（4）的检测值，生成用于使伺服电动机（2）能够进行驱动的驱动转矩指令值，该编码器 伺服电机（2）的旋转状态; 以及前馈控制部（10），生成模型转矩指令值，并将该模型转矩指令值输出到反馈控制部（20），前馈控制部（10）具有模型转矩限制器（104） 模型转矩指令值在第一极限范围内。

    CONTROL PARAMETER TUNING DEVICE AND CONTROL PARAMETER TUNING METHOD
    5.
    发明公开
    CONTROL PARAMETER TUNING DEVICE AND CONTROL PARAMETER TUNING METHOD 有权
    控制参数调整装置及控制参数调整方法

    公开(公告)号：EP3220214A9

    公开(公告)日：2018-01-17

    申请号：EP17160348.3

    申请日：2017-03-10

    申请人： Omron Corporation

    发明人： MORI, Yasumoto ,  EGI, Mamoru ,  SATO, Fumiaki ,  ARRATE UGIDOS, Aimar ,  LLIBRE TUR, Pere ,  HERAS VIAGA, Federico

    IPC分类号： G05B11/42 ,  G05B13/02

    CPC分类号： G05B6/02 ,  G05B13/024

    摘要： A control device for tuning a servo motor is suggested. The control device comprises a calculation unit (11) configured to determine a current proportional speed gain (K n ), which is a proportional speed of a current tuning iteration of the servo motor (20), and to calculate a stabilization time ratio based on a current stabilization time (S n ) of the servo motor (20) and a target stabilization time (S target ); a determination unit (12) configured to select a gain determination process based on the calculated stabilization time ratio, and to determine a next proportional speed gain (K n+1 ) using the selected gain determination process, the next proportional speed gain being a proportional speed gain of the next tuning iteration following the current tuning iteration; wherein the determination unit (12) is configured to select a skip step gain determination process, in which the next proportional speed gain is determined by a first calculation rule that is dependent on the calculated stabilization time ratio, if the stabilization time ratio is equal to or greater than a predetermined reference value, and to select a one step gain determination process, in which the next proportional speed gain is determined by a second calculation rule that is independent of the calculated stabilization time ratio, if the stabilization time ratio is below the predetermined reference value

    摘要翻译： 建议调整伺服电机的控制装置。 控制装置包括：计算单元（11），其被配置为确定作为伺服电动机（20）的当前调谐迭代的比例速度的电流比例速度增益（Kn），并且基于 伺服电动机（20）的电流稳定时间（Sn）和目标稳定时间（Starget）; 确定单元（12），其被配置为基于所计算的稳定时间比率来选择增益确定处理，并且使用所选择的增益确定处理来确定下一个比例速度增益（Kn + 1），所述下一个比例速度增益是比例速度 在当前调谐迭代之后获得下一个调谐迭代; 其中，所述确定单元（12）被配置为选择跳过步长增益确定过程，在所述跳过步长增益确定过程中，如果所述稳定时间比等于或大于所述第一计算规则，则所述下一个比例速度增益由取决于所计算的稳定时间比的第一计算规则 或大于预定参考值，并且选择一步增益确定过程，其中下一个比例速度增益由独立于所计算的稳定时间比的第二计算规则确定，如果稳定时间比低于 预定的参考值

    ROBOT CONTROL DEVICE, MAINTENANCE MANAGEMENT METHOD, AND MAINTENANCE MANAGEMENT PROGRAM
    8.
    发明公开
    ROBOT CONTROL DEVICE, MAINTENANCE MANAGEMENT METHOD, AND MAINTENANCE MANAGEMENT PROGRAM 审中-公开

    公开(公告)号：EP3792016A1

    公开(公告)日：2021-03-17

    申请号：EP19800373.3

    申请日：2019-02-22

    申请人： OMRON Corporation

    发明人： SHIRAKI, Teruyuki ,  ENDO, Maki ,  MORI, Yasumoto

    IPC分类号： B25J19/00

    摘要： The present invention accurately evaluates the degree of deterioration of a robot body. A robot control device 300 comprises: a drive control unit 309 that controls the operation of a robot body 200; a detection unit 310 that detects a signal used to analyze a feature value for quantitatively indicating the degree of deterioration of the robot body 200 which deteriorates over time in accordance with the operation of the robot body 200; a determination unit 304 that determines whether a data interval of the signal includes a constant speed interval at or above a fixed interval; a normalization unit 305 that normalizes the signal in a non-constant speed interval when the data interval of the signal does not include a constant speed interval at or above a fixed interval; an analysis unit 307 that analyzes the feature value on the basis of a signal feature value in the constant speed interval when the data interval of the signal includes a constant speed interval at or above a fixed interval, and analyzes the feature value on the basis of the normalized signal in the non-constant speed interval when the data interval of the signal does not include a constant speed interval at or above a fixed interval; and an estimation unit 308 that estimates the remaining service life of the robot body 200 on the basis of the feature value.

    CONTROL PARAMETER TUNING DEVICE AND CONTROL PARAMETER TUNING METHOD
    9.
    发明授权
    CONTROL PARAMETER TUNING DEVICE AND CONTROL PARAMETER TUNING METHOD 有权

    公开(公告)号：EP3220214B1

    公开(公告)日：2018-10-17

    申请号：EP17160348.3

    申请日：2017-03-10

    申请人： OMRON Corporation

    发明人： MORI, Yasumoto ,  EGI, Mamoru ,  SATO, Fumiaki ,  ARRATE UGIDOS, Aimar ,  LLIBRE TUR, Pere ,  HERAS VIAGA, Federico

    IPC分类号： G05B11/42 ,  G05B13/02

    CPC分类号： G05B6/02 ,  G05B13/024

    摘要： A control device for tuning a servo motor is suggested. The control device comprises a calculation unit configured to determine a current proportional speed gain of the servo motor and to calculate a stabilization time ratio based on a current stabilization time of the servo motor and a target stabilization time, a determination unit configured to select a gain determination process based on the calculated stabilization time ratio, to determine a next proportional speed gain using the selected gain determination process starting from the current proportional speed gain, wherein the calculation unit is further configured to update parameters of the servo motor according to the determined next proportional speed gain, and a control unit configured to generate a control signal for controlling the servo motor for driving a load based on the updated parameters.

    SETTING SUPPORT DEVICE, SETTING SUPPORT METHOD, INFORMATION PROCESSING PORGRAM AND RECORDING MEDIUM
    10.
    发明公开
    SETTING SUPPORT DEVICE, SETTING SUPPORT METHOD, INFORMATION PROCESSING PORGRAM AND RECORDING MEDIUM 审中-公开
    设置支持设备，设置支持方法，信息处理PORGRAM和记录介质

    公开(公告)号：EP3220219A1

    公开(公告)日：2017-09-20

    申请号：EP17152038.0

    申请日：2017-01-18

    申请人： Omron Corporation

    发明人： MORI, Yasumoto ,  EGI, Mamoru ,  SATO, Fumiaki

    IPC分类号： G05B19/042 ,  G05B17/02

    CPC分类号： G05B13/042 ,  G05B17/02 ,  G05B19/0426 ,  G05B2219/23401 ,  G05B2219/23446

    摘要： The invention supports the easy and appropriate setting of a plurality of control parameters. A setting support device of the invention includes: a test action instruction part, for changing at least one value among control parameters, so as to enable a servo driver to actually control test actions, or controlling test actions by utilizing the simulation of a hypothetical model; and a performance index calculation part, for working out performance indexes of the control of the servo driver according to a result of test actions.

    摘要翻译： 本发明支持多个控制参数的简单和适当的设置。 本发明的设定支援装置包括：测试动作指示部，用于变更控制参数中的至少一个值，以使伺服驱动器能够实际控制测试动作，或者通过利用假想模型的模拟来控制测试动作 ; 以及性能指标计算部分，用于根据测试行为的结果来计算出伺服驱动器的控制的性能指标。